{"id":"https://openalex.org/W2098569425","doi":"https://doi.org/10.1109/robot.2002.1014839","title":"Whole quadruped manipulation","display_name":"Whole quadruped manipulation","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2098569425","doi":"https://doi.org/10.1109/robot.2002.1014839","mag":"2098569425"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102844026","display_name":"Toru Omata","orcid":"https://orcid.org/0000-0003-3577-7672"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Omata","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057481772","display_name":"K. Tsukagoshi","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Tsukagoshi","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012777617","display_name":"Osamu Mori","orcid":"https://orcid.org/0000-0001-9441-3356"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"O. Mori","raw_affiliation_strings":["Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","Tokyo Inst. of Tech., Yokohama (Japan)"],"affiliations":[{"raw_affiliation_string":"Tokyo Institute of Technology, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech., Yokohama (Japan)","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102844026"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":1.1752,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79019465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"2028","last_page":"2033"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9771000146865845,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9531000256538391,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8301953077316284},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7393463253974915},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5519937872886658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5010967254638672},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48093289136886597},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4414171576499939},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2727295756340027},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13737595081329346},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09072813391685486},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.048584818840026855}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8301953077316284},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7393463253974915},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5519937872886658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5010967254638672},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48093289136886597},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4414171576499939},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2727295756340027},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13737595081329346},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09072813391685486},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.048584818840026855}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1550640844","https://openalex.org/W1932577340","https://openalex.org/W2145680719","https://openalex.org/W2164898903","https://openalex.org/W2165295681","https://openalex.org/W2170239251","https://openalex.org/W2294867102"],"related_works":["https://openalex.org/W2351083540","https://openalex.org/W4231686530","https://openalex.org/W2389690162","https://openalex.org/W2060497234","https://openalex.org/W3185647786","https://openalex.org/W2035968624","https://openalex.org/W2181731670","https://openalex.org/W2039467239","https://openalex.org/W2508650638","https://openalex.org/W2108481987"],"abstract_inverted_index":{"This":[0,106],"paper":[1,107],"proposes":[2],"whole":[3,15,75],"quadruped":[4,11,18,125],"manipulation,":[5],"a":[6,10,40,109,119],"novel":[7],"manipulation":[8,66,131],"with":[9,85,92],"robot":[12,19,37,63,101,126],"using":[13],"its":[14,26,29,47,56,79],"body.":[16,57],"The":[17,36,58,90],"we":[20],"have":[21],"developed":[22],"can":[23,32,38,51,127],"stand":[24],"on":[25],"knees":[27],"and":[28,43,50],"two":[30,48,80,114],"legs":[31,81,115],"serve":[33],"as":[34],"arms.":[35],"hold":[39],"relatively":[41],"big":[42],"heavy":[44],"object":[45],"in":[46,83],"arms,":[49],"manipulate":[52],"it":[53],"by":[54],"moving":[55],"desired":[59],"configurations":[60],"of":[61,78,99],"the":[62,65,74,86,93,97,100,113,129],"during":[64],"are":[67,82],"at":[68],"an":[69],"increased":[70],"mobility":[71,98],"singularity":[72,94],"if":[73],"distal":[76],"links":[77],"contact":[84,110],"floor":[87],"or":[88],"ground.":[89],"problem":[91],"is":[95],"that":[96,123],"changes":[102],"significantly":[103],"around":[104],"it.":[105],"shows":[108],"type":[111],"for":[112],"to":[116],"avoid":[117],"such":[118],"singularity.":[120],"We":[121],"verify":[122],"our":[124],"perform":[128],"proposed":[130],"experimentally.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
